//
// Created by Wirano on 2020/11/9.
//

#ifndef ANO_MOTORCTRL_H
#define ANO_MOTORCTRL_H

/* Includes ------------------------------------------------------------------*/
#include "Ano_FcData.h"
#include "Ano_Pid.h"
/* Exported types ------------------------------------------------------------*/

typedef struct
{
	int32_t ct_val_rol;
	int32_t ct_val_pit;
	int32_t ct_val_yaw; 
	int32_t ct_val_thr;
} _mc_st;
extern _mc_st mc;





/* Exported constants --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */

void Motor_Ctrl_Task(uint8_t dT_ms);

extern int16_t motor[MOTORSNUM];

#endif //ANO_MOTORCTRL_H
